#ifndef OROREADMTI
#define OROREADMTI

#include <rtt/TaskContext.hpp>
#include <rtt/Port.hpp>
#include <rtt/Component.hpp>
#include <kdl/frames.hpp>
#include <kvh_cg5100/kvh_cg5100.hpp>
#include <tf/tfMessage.h>

using namespace std;
using namespace RTT;
using namespace KVH;

namespace KVH{
	class OroReadKVH : public TaskContext
	{
	  protected:
	    OutputPort<tf::tfMessage> tfData_port;

    private:
      KVH kvh;
      IMUdata *data;
      tf::tfMessage tfData;
      KDL::Rotation rot;

	  public:
	    /***
	    * Constructor
	    * @param the component name
	    */
	    OroReadKVH(std::string name);
	    ~OroReadKVH(){};
	    bool configureHook();
	    bool startHook();
	    void updateHook();
	  };
}
#endif
